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MuJoCo Warp documentation: Large scenes initialize trees asleep

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PiperOrigin-RevId: 956462670
Change-Id: I0c6f211126e5d86bfacebff49591c17cb503b062
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Taylor Howell
2026-07-30 05:33:32 -07:00
committed by Copybara-Service
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commit 82471cbdfb
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@@ -444,6 +444,15 @@ high-performance tensor/matrix operations optimized for fixed tile sizes.
to a tight upper bound of the expected active DOFs significantly reduces GPU memory usage and improves to a tight upper bound of the expected active DOFs significantly reduces GPU memory usage and improves
throughput. throughput.
.. TODO(taylorhowell): update example with correct island cycles initialization
4. When setting ``nvmax < nv`` it is recommended to initialize all trees to asleep in order to avoid initial dof
overflow.
.. code-block:: python
d.tree_asleep.assign(np.array(np.arange(mjm.ntree, dtype=np.int32)), dtype=np.int32)
.. note:: .. note::
Consider increasing the sleep tolerance setting (e.g., ``sleep_tolerance="0.01"`` in XML options or Consider increasing the sleep tolerance setting (e.g., ``sleep_tolerance="0.01"`` in XML options or
``spec.option.sleep_tolerance = 0.01`` in Python) from its default value (0.001) to more quickly ``spec.option.sleep_tolerance = 0.01`` in Python) from its default value (0.001) to more quickly